Robotics Exam

1) Name two types of contact sensors and four types of non-contact sensors. 2) What advantages do non-contact sensors have over contact type sensors? Disadvantages 3) Which type of lighting (front or rear) is easier to set up for part inspection/identification using total surface area as the primary indicator? Why? 4) When using a front lighting system, what pitfalls or obstacles could be encountered (name three)? 5) What problems would be encountered in setting up an inspection system to identify clear “acrylic” parts? Explain what can be done to overcome these issues. 6) Draw an electrical schematic of a shunt wound DC electrical motor with shunt field speed control. Label all parts. 7) Even though a series wound DC motor has poor speed control, why would it be preferred as an actuator for a robotic wrist joint? 8) What is the formula or explanation of “synchronous speed” as given for an AC induction motor? (either will do) 9) In an AC motor, what is the term “motor slip” referring to? 10) What is the maximum theoretical synchronous speed of an AC motor with four stator coils? 11) Why is shunt field control of a DC motor preferred over armature control? 12) Explain the following Fanuc Robotic Vision Program: 1: UFRAME_NUM=5; _______________________________________________ 2: UTOOL-NUM=2; _________________________________________________ 3: J P[1] 100% FINE; ________________________________________________ 4: VISION RUN_FIND ‘VISIONPASSFAIL’; ___________________________________________________ 5: VISION GET_OFFSET ‘VISIONPASSFAIL’ VR[1] JMP LBL [25]; _______________________________ 6: L P[2] 250mm/sec FINE Tool_Offset, PR[10:APRCH] VOFFSET, VR[1]; ___________________________ 7: L P[2] 500mm/sec FINE VOFFSET, VR[1]; _________________________________________ 8: PAUSE; ______________________________________________ 9: L P[2] 500mm/sec FINE Tool_Offset, PR[10:APRCH] VOFFSET, VR[1]; ___________________________ 10: LBL[25]; ____________________________________________ 11: J P[1] 100% FINE; __________________________________________ What are the names of your two Fanuc robotic programs programs: #1) _________________________________ #2) _________________________________

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